4.1.2 PDO Mapping Syntax
Sub-index 1–4 contains the mapped objects.
Example: Object 6041 status word is fixed in PDO 1 and
PDO 2 as the first transmit-word.
That is, OD 1A00h and 1A01h sub-index 1 holds the value
of 60410010 (6041 = object number, 00 = sub-index, 10 =
length of data = 16 bits)
Example: To map
parameter 16-14 Motor current
(32-bit
data) in PDO 3, it must be mapped in 2 PDO-words.
Parameter 16-14 Motor current
is according to manufacturer
object 264E.
1A02h [3] = 264E0020 (264E = object number, 00 = sub-
index, 20 = length of data = 32 bits)
1A02h [4] = 264E0020 (264E = object number, 00 = sub-
index, 20 = length of data = 32 bits)
4.1.3 PDO Transmission Modes
Sub-index 2 contains the setting of the transmission mode.
The following PDO transmission modes are distinguished:
•
Synchronous transmission.
•
Asynchronous transmission.
4.1.4 PDO Triggering Modes
The CANopen communication profile distinguishes 2
message triggering modes:
•
Event driven.
•
Remotely requested.
Event driven
Message transmission is triggered by the occurrence of an
object-specific event.
For synchronous PDOs, this is the expiration of the
specified transmission period, synchronised by the
reception of the SYNC object.
For acyclically transmitted synchronous PDOs and
asynchronous PDO’s, the triggering of a message
transmission is an application-specific event specified in
the device profile.
Remotely requested
The transmission of asynchronous PDO’s may be initiated
on receipt of a remote request initiated by another device.
Transmission
type
PDO transmission
Cyclic Acyclic Synchronous Asynchronous RTR
only
0
x
x
1–240
x
x
241–251
Reserved
252
Not supported
253
254
x
255
x
Table 4.3 PDO Transmission
4.1.5 Inhibit Time
Sub-index 3 contains the inhibit time.
This time defines a minimum interval for PDO transmission.
The value is defined as multiple of 0.1 ms.
Default value is 300 = 30 ms.
Minimum value is 0.
Maximum value is 32767 = 3.2 s.
Data length = 2 bytes.
4.1.6 Event Timer
Sub-index 5 contains the inhibit time for transmit PDOs.
If an event timer is configured for a TPDO (value not equal
to 0), the elapsed timer causes the transmission of this
TPDO.
The event timer can be configured as multiple of 1 ms.
Default value is 0.
Maximum value is 32767 = 32 s.
Data length = 2 bytes.
Control
Programming Guide
MG92G102
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